Comets and planet crossing asteroids are observed so that accurate positions can be determined. The observations are made with the Palomar 1.5 m telescope equipped with a CCD array. The combination of telescope and detector is quite effective at recording faint comets and minor planets. This proves useful for early acquisition of comets and asteroids returning for a new opposition. The resulting positions permit accurate orbits to be determined and allow the properties of the comets and asteroids to be measured by other observers using a variety of techniques. Recoveries and other notable observations of comets and planet crossing asteroids observed during the past years are discussed.